Adding TB3 minimal simulation (#7)

* adding prototype for TB3

* working BT3

Author: SteveMacenski

README.md

@@ -1,5 +1,6 @@
-# nav2_minimal_turtlebot4_simulation
+# nav2_minimal_turtlebot_simulation
 
-A minimum description & simulation of the TB4 using standard ROS-GZ tools for ``nav2_bringup`` and user example.
+A minimum description & simulation of the TB3/TB4 using standard ROS-GZ tools for ``nav2_bringup`` and user example.
 
 It is largely ROS distribution agnostic, using launch files and URDFs so it should be easy to use for any ROS 2 distribution & release into Rolling for all future ones. 
+

nav2_min_tb4_sim/README.md

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.8)
+project(nav2_minimal_tb3_sim)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY configs launch worlds urdf models
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

nav2_minimal_tb3_sim/CMakeLists.txt

@@ -0,0 +1,3 @@
+# Nav2 Minimal Turtlebot3 Simulation
+
+This is a minimum simulation for the Turtlebot3 for use with Nav2. This is setup to strip out external dependencies and complexities to the bare minimum needed for simulating the robot for Nav2's bringup which hopefully will not require changes from distribution-to-distribution.

nav2_minimal_tb3_sim/README.md

@@ -0,0 +1,51 @@
+# replace clock_bridge
+- ros_topic_name: "clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# no equivalent in TB3 - add
+- ros_topic_name: "joint_states"
+  gz_topic_name: "joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+# replace odom_bridge - check gz topic name
+# gz topic published by DiffDrive plugin
+- ros_topic_name: "odom"
+  gz_topic_name: "/odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+
+# replace odom_tf_bridge - check gz and ros topic names
+# gz topic published by DiffDrive plugin
+# prefix ros2 topic with gz
+- ros_topic_name: "tf"
+  gz_topic_name: "/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# replace imu_bridge - check gz topic name
+- ros_topic_name: "imu"
+  gz_topic_name: "/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+# replace lidar_bridge
+- ros_topic_name: "scan"
+  gz_topic_name: "/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+
+# replace cmd_vel_bridge
+- ros_topic_name: "cmd_vel"
+  gz_topic_name: "/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ

nav2_minimal_tb3_sim/configs/turtlebot3_waffle_bridge.yaml

@@ -0,0 +1,109 @@
+# Copyright (C) 2023 Open Source Robotics Foundation
+# Copyright (C) 2024 Open Navigation LLC
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from pathlib import Path
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    bringup_dir = get_package_share_directory('nav2_minimal_tb3_sim')
+
+    namespace = LaunchConfiguration('namespace')
+    use_simulator = LaunchConfiguration('use_simulator')
+    robot_name = LaunchConfiguration('robot_name')
+    robot_sdf = LaunchConfiguration('robot_sdf')
+    pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
+            'y': LaunchConfiguration('y_pose', default='-0.50'),
+            'z': LaunchConfiguration('z_pose', default='0.01'),
+            'R': LaunchConfiguration('roll', default='0.00'),
+            'P': LaunchConfiguration('pitch', default='0.00'),
+            'Y': LaunchConfiguration('yaw', default='0.00')}
+
+    # Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        'use_simulator',
+        default_value='True',
+        description='Whether to start the simulator')
+
+    declare_robot_name_cmd = DeclareLaunchArgument(
+        'robot_name',
+        default_value='turtlebot3_waffle',
+        description='name of the robot')
+
+    declare_robot_sdf_cmd = DeclareLaunchArgument(
+        'robot_sdf',
+        default_value=os.path.join(bringup_dir, 'urdf', 'gz_waffle.sdf'),
+        description='Full path to robot sdf file to spawn the robot in gazebo')
+
+    bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        parameters=[
+            {
+                'config_file': os.path.join(
+                    bringup_dir, 'configs', 'turtlebot3_waffle_bridge.yaml'
+                ),
+            }
+        ],
+        output='screen',
+    )
+
+    spawn_model = Node(
+        condition=IfCondition(use_simulator),
+        package='ros_gz_sim',
+        executable='create',
+        output='screen',
+        arguments=[
+            '-entity', robot_name,
+            '-file', robot_sdf,
+            '-robot_namespace', namespace,
+            '-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
+            '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']]
+    )
+
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH', os.path.join(bringup_dir, 'models'))
+    set_env_vars_resources2 = AppendEnvironmentVariable(
+            'GZ_SIM_RESOURCE_PATH',
+            str(Path(os.path.join(bringup_dir)).parent.resolve()))
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_robot_name_cmd)
+    ld.add_action(declare_robot_sdf_cmd)
+    ld.add_action(declare_use_simulator_cmd)
+
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(set_env_vars_resources2)
+
+    ld.add_action(bridge)
+    ld.add_action(spawn_model)
+    return ld